CN213565396U

CN213565396U - Unmanned vehicle driven independently

Info

Publication number: CN213565396U
Application number: CN202022557880.6U
Authority: CN
Inventors: 赵鹏亮; 赖康意; 吴正豪; 唐凯; 严建勇; 苏垲淇; 杨润
Original assignee: Xiamen Xinglian Intelligent Control Technology Co ltd
Current assignee: Xiamen Xinglian Intelligent Control Technology Co ltd
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-06-29
Anticipated expiration: 2030-11-06

Abstract

The utility model discloses an independently driven unmanned vehicle, which comprises a chassis, a power supply assembly, a power assembly, a suspension assembly and a wheel assembly; the chassis adopts a frame type structure, a first mounting space is formed in the middle of the chassis, and second mounting spaces are formed on two sides of the chassis respectively; a power supply assembly is arranged in the first mounting space; power components are respectively arranged in the two second mounting spaces; a suspension component is arranged on the side edge of the chassis in the second mounting space; the wheel assembly is mounted on the suspension assembly and is driven by the power assembly. The utility model discloses well chassis adopts frame rack construction to be provided with first installation space, both sides at the middle part on chassis and be provided with second installation space, be provided with power supply module in the first installation space, be provided with power component in the second installation space, hang subassembly and wheel subassembly and set up in the side on chassis, the rationally distributed of unmanned vehicle part, stability when traveling is good, and the compact structure of whole car, and the volume is littleer, and the nature controlled is better.

Description

Unmanned vehicle driven independently

Technical Field

The utility model relates to an unmanned vehicle technical field, concretely relates to unmanned vehicle of independent drive.

Background

The unmanned vehicle is an unmanned mobile platform integrating the robot technology and the vehicle technology, and is widely applied to the fields of logistics, transportation, distribution, fire fighting, disaster relief, patrol, reconnaissance and the like due to the characteristics of intelligence, wire control, flexibility, adaptability to complex off-road environments and the like. But current unmanned vehicle exists spatial layout unreasonable, leads to the volume of whole car too big, the whole stability when driving is relatively poor, has reduced unmanned vehicle's controllability, makes unmanned vehicle's performance receive the influence consequently how rationally design unmanned vehicle's structure, makes the stability of whole car better, the volume is littleer, the structure is compacter to promote unmanned vehicle's controllability, becomes the problem that needs to solve in the current unmanned vehicle technique urgently.

In addition, the suspension system of current unmanned car is most for considering its self stability, shock attenuation and nimble degree and constantly innovate and improve the suspension, but often neglected the erection joint between suspension system and the chassis, and unmanned car is at the driving in-process, because suspension system atress is uneven, can't disperse suspension system atress to the chassis better to lead to suspension system to appear very easily when using damaging or take place abnormal phenomenon, make suspension system's use have higher potential safety hazard.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an independent driven unmanned vehicle, its is rationally distributed, compact structure, has promoted the controllability of unmanned vehicle.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an independently driven unmanned vehicle comprises a chassis, a power supply assembly, a power assembly, a suspension assembly and a wheel assembly; the chassis adopts a frame type structure, a first installation space is formed in the middle of the chassis, and second installation spaces are respectively formed on two sides of the first installation space on the chassis; the power supply assembly is arranged in the first installation space; the power assemblies are arranged in the two second mounting spaces respectively; the second mounting space is provided with the suspension assembly at the side edge of the chassis; the wheel assembly is mounted on the suspension assembly and is driven by the power assembly.

Further, the chassis comprises a bottom frame, a top frame, a front support, a rear support and separation supports, wherein the bottom frame and the top frame are parallel to each other, a group of front supports and a group of rear supports are arranged between the bottom frame and the top frame, two groups of separation supports are arranged between the front support and the rear support, a first installation space is formed between the two separation supports, and a second installation space is formed between the two separation supports and the front support and the rear support respectively.

Furthermore, the power supply module comprises a battery mounting seat, a battery and a first mounting plate, wherein the battery mounting seat is fixedly arranged in the first mounting space and adopts a frame structure, the battery is detachably arranged in the battery mounting seat, the first mounting space is fixedly arranged above the battery mounting seat, and the first mounting plate is provided with the whole vehicle controller.

Further, power component includes motor mount pad, driving motor, universal joint and second mounting panel, the motor mount pad set firmly in the second installation space, driving motor set up in the motor mount pad, driving motor's spindle is connected with the universal joint, the second installation space in the top of motor mount pad has set firmly the second mounting panel, be provided with machine controller on the second mounting panel.

Further, the suspension assembly comprises a suspension mounting seat, an upper rocker arm, a lower rocker arm and a rocker arm support, the suspension mounting seat is fixedly arranged on the outer side of the motor mounting seat in the second mounting space, one ends of the upper rocker arm and the lower rocker arm are hinged to the suspension mounting seat in parallel, the other ends of the upper rocker arm and the lower rocker arm are hinged to the rocker arm support respectively, and the upper rocker arm and the lower rocker arm are parallel to each other.

Furthermore, the rocker arm support is H-shaped, the other ends of the upper rocker arm and the lower rocker arm are respectively hinged to the upper end and the lower end of the rocker arm support, and the middle of the rocker arm support is provided with a mounting opening.

Further, the suspension assembly further comprises a spring shock absorber, an installation part is formed by downward extending of the side edge of the lower rocker arm, one end of the spring shock absorber is hinged to the chassis, and the other end of the spring shock absorber is hinged to the installation part.

Further, the wheel assembly comprises a wheel shaft, a wheel hub and a tire, the wheel shaft penetrates through the mounting hole through a bearing and is connected with the universal joint, the wheel hub is fixedly arranged on the wheel shaft, and the tire is mounted on the wheel hub.

Further, the underframe frame in the left and right sides of first installation space has set firmly the collateral branch frame respectively, the top of underframe frame is equipped with the top cap, the top cap includes roof and curb plate, the roof is toward two collateral branch frame direction bending type becomes the curb plate, the top of top cap is equipped with a set of slide rail.

Furthermore, a front bumper and a front lamp are arranged on the front support, and a rear bumper and a rear lamp are arranged on the rear support.

After the technical scheme is adopted, compared with the background art, the utility model, have following advantage:

1. the utility model discloses well chassis adopts frame rack construction to be provided with first installation space, both sides at the middle part on chassis and be provided with second installation space, be provided with the heavier power supply module of weight in the first installation space, be provided with power component in the second installation space, hang subassembly and wheel subassembly and set up in the side on chassis, the rationally distributed of unmanned vehicle part, stability when traveling is good, and the compact structure of whole car, the volume is littleer, and the nature controlled is better.

2. The utility model discloses well wheel subassembly is installed in the installing port at rocker arm support middle part, and rocker arm support articulates on the chassis through the last rocking arm that is parallel to each other and lower rocking arm, and wheel unit's atress transmits to rocker arm support, goes up the rocking arm more evenly and disperses to the chassis better behind the rocking arm down for the atress performance of hanging the subassembly obtains promoting, and then has improved the security that the hanging assembly used.

3. The utility model discloses when being provided with front bumper and rear bumper respectively around the chassis and guaranteeing to collide, the bumper can play the effect of absorbed energy and buffering at first, has improved the barrier propterty of unmanned car.

4. The utility model discloses be equipped with roof and curb plate at the top on chassis, the curb plate is buckled toward the collateral branch frame direction for liquid such as water can be smooth flow down, play better waterproof effect, simultaneously, be equipped with a set of slide rail at the top of top cap, can the various different accessories of adaptation on the slide rail, and then realize the multifunctionality of unmanned car.

Drawings

Fig. 1 is one of the schematic perspective views of the present invention;

fig. 2 is a second perspective view of the present invention;

fig. 3 is a schematic perspective view of the middle chassis of the present invention;

fig. 4 is one of the partial structural diagrams of the present invention;

FIG. 5 is an exploded view of FIG. 4;

fig. 6 is a second partial schematic structural view of the present invention;

FIG. 7 is an exploded view of FIG. 6;

FIG. 8 is a schematic view of the suspension assembly and wheel assembly;

FIG. 9 is an exploded view of FIG. 8;

fig. 10 is a perspective view of a suspension assembly.

Description of reference numerals:

the chassis 100, the first installation space 110, the second installation space 120, the bottom frame 130, the top frame 140, the front bracket 150, the front bumper 151, the front lamp 152, the rear bracket 160, the rear bumper 161, the partition bracket 170, the side bracket 180, the top cover 190, the top plate 191, the side plate 192, and the slide rail 193;

power supply module 200, battery mounting base 210, battery 220, first mounting plate 230;

the device comprises a power assembly 300, a motor mounting seat 310, a driving motor 320, a universal joint 330, a second mounting plate 340, a motor controller 350 and a flat key 360;

suspension assembly 400, suspension mount 410, upper rocker arm 420, lower rocker arm 430, mount 431, rocker arm bracket 440, mount port 441, spring damper 450, polished rod bolt 460;

wheel assembly 500, axle 510, hub 520, tire 530;

vehicle control unit 600.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are all based on the orientation or position relationship shown in the drawings, and are only for convenience of description and simplification of the present invention, but do not indicate or imply that the device or element of the present invention must have a specific orientation, and thus, should not be construed as limiting the present invention.

Examples

Referring to fig. 1 to 3, the present invention discloses an independently driven unmanned vehicle, which includes a chassis 100, a power supply module 200, a power module 300, a suspension module 400, and a wheel module 500.

Chassis 100 adopts frame rack structure, and chassis 100's middle part is formed with first installation space 110, and chassis 100 is formed with second installation space 120 respectively in the both sides of first installation space 110, the utility model discloses well chassis 100 adopts the structure of frame-type, not only has sufficient structural strength, can make unmanned car's chassis lightweight more moreover.

The chassis 100 includes a bottom frame 130, a top frame 140, a front support 150, a rear support 160 and separation supports 170, the bottom frame 130 and the top frame 140 are parallel to each other, a set of front supports 150 and a set of rear supports 160 are disposed between the bottom frame 130 and the top frame 140, two sets of separation supports 170 are disposed between the front support 150 and the rear support 160, a first installation space 110 is formed between the two separation supports 170, and second installation spaces 120 are formed between the two separation supports 170 and the front support 150 and the rear support 160, respectively.

Bottom frame 130 has set firmly side support 180 respectively in the left and right sides of first installation space 110, the top of bottom frame 130 is equipped with top cap 190, top cap 190 includes roof 191 and curb plate 192, roof 191 is towards 180 direction bending type curb plates 192 of both sides support, curb plate 192 can make liquid such as water can be smooth flow down, the width of curb plate 192 surpasss chassis frame, slightly be less than the wheel base, the good internal circuit of protection that can be fine, play better water-proof effects. The top of top cap 190 is equipped with a set of slide rail 193, and the slide rail is located the boundary beam position of frame for its bearing capacity is higher, and slide rail 193 can the various accessories of adaptation, like gripper, video monitoring, commodity circulation warehouse box etc. thereby realize unmanned vehicle's multiple functions. In addition, a hole site for installing the towing hook is reserved at the tail of the vehicle, so that when the unmanned vehicle needs to tow an object, the towing hook structure only needs to be installed, and the towing function can be realized.

The front support 150 is provided with a front bumper 151 and a front lamp 152, the rear support 160 is provided with a rear bumper 161 and a rear lamp (not shown in the figure), and the front bumper 151 and the rear bumper 161 can firstly play the roles of absorbing energy and buffering when collision occurs, so that the protection performance of the unmanned vehicle is improved. Meanwhile, the front bumper 151 and the rear bumper 161 are made of aluminum tubes, so that it is possible to prevent the unmanned vehicle from colliding with a pedestrian during the driving process, and the aluminum material is relatively soft and can reduce the damage to the pedestrian when colliding with the pedestrian.

As shown in fig. 2 to 5, a power supply module 200 is disposed in the first mounting space 110, the power supply module 200 includes a battery mounting seat 210, a battery 220 and a first mounting plate 230, the battery mounting seat 210 is fixedly disposed in the first mounting space 110, and adopts a frame structure, the battery 220 is detachably disposed in the battery mounting seat 210, the first mounting plate 230 is fixedly disposed above the battery mounting seat 210 in the first mounting space 110, and a vehicle control unit 600 is disposed on the first mounting plate 230. The battery 220 is arranged in the middle of the whole vehicle, is installed in a plugging mode, is plugged in or taken out from the side face, and can avoid the power failure problem caused by the inertia effect when the vehicle is started or stopped. Simultaneously, can install fixed knot additional and construct for the battery can keep fixed state, guarantees power supply system steady operation, shows the electric quantity condition with the form of pilot lamp on the battery, is equipped with the battery handle at the side of battery, and the battery handle accords with ergonomics, and the appearance is mellow and full not have edges and corners, and the gripping is comfortable, makes the very easy change battery of people.

As shown in fig. 2 to 8, the two second installation spaces 120 are respectively provided with power assemblies 300, in this embodiment, the second installation spaces 120 are symmetrically disposed on two sides of the first installation space 110, and two sets of power assemblies 300 are disposed in each second installation space 120. The power assembly 300 comprises a motor mounting seat 310, a driving motor 320, a universal joint 330 and a second mounting plate 340, wherein the motor mounting seat 310 is fixedly arranged in the second mounting space 120, the driving motor 320 is arranged in the motor mounting seat 310, a crankshaft of the driving motor 320 is connected with the universal joint 330, the second mounting space 120 is fixedly provided with the second mounting plate 340 above the motor mounting seat 310, and the second mounting plate 340 is provided with a motor controller 350.

The utility model discloses in, universal joint 330 adopts prior art, so its concrete structure is not repeated, simultaneously, universal joint 330 adopts parallel key 360 to be connected with driving motor 320's bent axle, and universal joint 330 can be at epaxial axial slip to make whole car at the in-process of traveling, universal joint 330 can be along with the swing of hanging subassembly 400 finely tune, in order to avoid appearing rocking arm 420 and lower rocking arm 430 and underframe frame 130 emergence interference.

As shown in fig. 2 to 4 and 7 to 10, a suspension assembly 400 is disposed on the second mounting space 120 at a side of the chassis 100, the suspension assembly 400 includes a suspension mounting seat 410, an upper swing arm 420, a lower swing arm 430 and a swing arm support 440, the suspension mounting seat 410 is fixedly disposed on the outer side of the motor mounting seat 310 of the second mounting space 120, one end of the upper swing arm 420 and one end of the lower swing arm 430 are hinged to the suspension mounting seat 410 in parallel, the other end of the upper swing arm 420 and the other end of the lower swing arm 430 are hinged to the swing arm support 440, and the upper swing arm 420 and the lower swing arm 430 are.

In this embodiment, the rocker arm bracket 440 is H-shaped, the other ends of the upper rocker arm 420 and the lower rocker arm 430 are respectively hinged to the upper end and the lower end of the rocker arm bracket 440, meanwhile, the upper rocker arm 420 and the lower rocker arm 430 are both plate-shaped, the middle parts of the upper rocker arm 420 and the lower rocker arm 430 are hollow, the weight of the upper rocker arm 420 and the lower rocker arm 430 is light, the whole unmanned vehicle is lighter, and the middle part of the rocker arm bracket 440 is provided with the mounting opening 441.

The suspension assembly 400 further includes a spring damper 450, a mounting portion 431 is formed by extending a side edge of the lower swing arm 430 downward, one end of the spring damper 450 is hinged to the chassis 100, and the other end is hinged to the mounting portion 431. The vibration and impact of the road surface to the unmanned vehicle are reduced through the spring shock absorber 450, the running stability of the unmanned vehicle is improved, and the unmanned vehicle can better adapt to the complex road surface condition.

In the present embodiment, the upper swing arm 420 and the lower swing arm 430 are both hinged to the suspension mounting base 410 and the swing arm bracket 440 by a polished rod bolt 460, and the spring damper 450 is hinged to the chassis 100 and the mounting portion 431 by a polished rod bolt 460. Because polished rod bolt 460 belongs to the standard part, it can satisfy the intensity requirement of suspension assembly 400 installation, also can reduce the manufacturing cost of whole car.

As shown in fig. 2 and 8 to 10, the wheel assembly 500 is mounted on the suspension assembly 400 and driven by the power assembly 300, the wheel assembly 500 includes a wheel shaft 510, a wheel hub 520 and a tire 530, the wheel shaft 510 is inserted into the mounting hole 441 through a bearing and is connected to the universal joint 330, the wheel hub 520 is fixed on the wheel shaft 510, and the tire 530 is mounted on the wheel hub 520.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An independently driven unmanned vehicle characterized in that: comprises a chassis, a power supply assembly, a power assembly, a suspension assembly and a wheel assembly; the chassis adopts a frame type structure, a first installation space is formed in the middle of the chassis, and second installation spaces are respectively formed on two sides of the first installation space on the chassis; the power supply assembly is arranged in the first installation space; the power assemblies are arranged in the two second mounting spaces respectively; the second mounting space is provided with the suspension assembly at the side edge of the chassis; the wheel assembly is mounted on the suspension assembly and is driven by the power assembly.

2. An independently driven unmanned vehicle, as defined in claim 1, wherein: the chassis comprises a bottom frame, a top frame, a front support, a rear support and separation supports, wherein the bottom frame and the top frame are parallel to each other, a group of front supports and a group of rear supports are arranged between the bottom frame and the top frame, two groups of separation supports are arranged between the front supports and the rear supports, a first installation space is formed between the separation supports, and two separation supports respectively form a second installation space between the front supports and the rear supports.

3. An independently driven unmanned vehicle, as defined in claim 2, wherein: the power supply module comprises a battery mounting seat, a battery and a first mounting plate, wherein the battery mounting seat is fixedly arranged in a first mounting space and adopts a frame structure, the battery is detachably arranged in the battery mounting seat, the first mounting plate is fixedly arranged above the battery mounting seat in the first mounting space, and a vehicle control unit is arranged on the first mounting plate.

4. An independently driven unmanned vehicle, as defined in claim 2, wherein: the power assembly comprises a motor mounting seat, a driving motor, a universal joint and a second mounting plate, the motor mounting seat is fixedly arranged in the second mounting space, the driving motor is arranged in the motor mounting seat, the crankshaft of the driving motor is connected with the universal joint, the second mounting space is fixedly arranged above the motor mounting seat, and a motor controller is arranged on the second mounting plate.

5. An independently driven unmanned vehicle, as defined in claim 4, wherein: the suspension assembly comprises a suspension mounting seat, an upper rocker arm, a lower rocker arm and a rocker arm support, the suspension mounting seat is fixedly arranged on the outer side of the motor mounting seat in the second mounting space, one ends of the upper rocker arm and the lower rocker arm are hinged to the suspension mounting seat in parallel, the other ends of the upper rocker arm and the lower rocker arm are hinged to the rocker arm support respectively, and the upper rocker arm and the lower rocker arm are parallel to each other.

6. An independently driven unmanned vehicle, as defined in claim 5, wherein: the rocker arm support is H-shaped, the other ends of the upper rocker arm and the lower rocker arm are respectively hinged to the upper end and the lower end of the rocker arm support, and the middle of the rocker arm support is provided with a mounting opening.

7. An independently driven unmanned vehicle, as defined in claim 6, wherein: the suspension assembly further comprises a spring shock absorber, an installation part is formed by downward extending of the side edge of the lower rocker arm, one end of the spring shock absorber is hinged to the chassis, and the other end of the spring shock absorber is hinged to the installation part.

8. An independently driven unmanned vehicle, as defined in claim 6, wherein: the wheel assembly comprises a wheel shaft, a wheel hub and a tire, the wheel shaft penetrates through the mounting opening through a bearing and is connected with the universal joint, the wheel hub is fixedly arranged on the wheel shaft, and the tire is mounted on the wheel hub.

9. An independently driven unmanned vehicle, as defined in claim 2, wherein: the underframe frame in the left and right sides of first installation space has set firmly the collateral branch frame respectively, the top of underframe frame is equipped with the top cap, the top cap includes roof and curb plate, the roof is toward two collateral branch frame direction bending type becomes the curb plate, the top of top cap is equipped with a set of slide rail.

10. An independently driven unmanned vehicle, as defined in claim 2, wherein: the front support is provided with a front bumper and a front car lamp, and the rear support is provided with a rear bumper and a rear car lamp.